Abstract
Power assist systems have been introduced to reduce workers' load in industrial production. The author has studied on control systems for power assisted conveyance of flexible structures. Generally, the systems include influences of various kinds of uncertainties. One of them is vibration influence of controlled objects to operators. Another one is structured uncertainty such as nonlinear friction or parameter variations. The author's previous paper proposed a robust assist system design by taking these uncertainties into account. It consisted of an impedance controller, a disturbance accommodating optimal controller, a disturbance observer and a reaction force controller. However, the nonlinear friction such as Coulomb friction often induces chattering motion. Such a motion may cause a controlled object spill-over instability because the previous control system design does not take influences of unstructured uncertainties into account. Therefore, this note provides a modified version of the previous design by using the frequency-shaped disturbance accommodating optimal control. This note adopts the same controlled object as the author's previous paper. The effectiveness of the modification is verified by simulations.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
